Journal of Navigation and Port Research (한국항해항만학회지)

Korean Institute of Navigation and Port Research (한국항해항만학회)
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Mooring Winch Control System Design Based on Frequency Dependent LQR Control Approach

주파수 의존형 LQR 설계법에 의한 무어링 윈치 제어시스템 설계

  • Goo, Ja-Sam (Department of Naval Architecture and Marine Systems Engineering, Pukyong National University) ;
  • Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • 구자삼 (부경대학교 조선해양시스템공학과) ;
  • 김영복 (부경대학교 기계시스템공학과)
  • Received : 2013.07.29
  • Accepted : 2014.02.10
  • Published : 2014.02.28
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Abstract

In this paper, the author consider control system design problem of the surface vessel where any types of floating units are included. To keep their motion/position, the Dynamic Positioning System(DPS) is equipped in. Even though sometimes the thrust systems are installed on them, in general the mooring winch system with the rope/wire is used. Therefore, in this paper we consider a single type mooring winch control problem to keep the vessel's position. For this, we introduce an easy and useful control approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance. Based on this, we will show that the proposed approach works well.

본 논문에서는 무어링윈치시스템 제어를 위한 제어계 설계법에 대해 고찰하고 있다. 특히 무어링윈치의 동적운전이 로우프에 부가하는 급격한 부하변동을 억제함으로써 로우프 피로하중을 감소시키고 선박운동제어에 있어서의 바람직한 제어성능을 달성할 수 있도록 하는 제어기 설계법을 제안하고 있다. 최적제어이론에 기반하여, 평가함수에 주어지는 중량행렬(weighting matrix)에 주파수 특성을 부여함으로써, 고주파 모드가 포함된 제어입력이 불안전한 특성을 여기시키지 않도록 하는 것이 제어기 설계 목표이며, 이것은 곧 로우프에 급격한 부하변동을 발생시키지 않게 되는 결과를 얻게 된다. 설계된 제어기는 저차이면서도 외란에 대한 강인성 뿐 만 아니라 제어성능 또한 보장하는 유용한 기법이며 시뮬레이션 및 실험을 통해 그 유효성을 검증하고 있다.

Keywords

References

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